Storage system, use and method with robotic parcel retrieval and loading onto a delivery vehicle

ABSTRACT

A storage system (100) is adapted to store a plurality of items and to load a delivery robot (2) with an item. The storage system (100) includes a delivery robot level (110), at least one storage level (112, 114, 116, 118) for storing the items, and a loading robot (130) adapted to grip the items and to load the items from a storage level (112, 114, 116, 118) to a delivery robot (2) located on the delivery robot level (110). The storage system (100) is adapted to move the items within a storage level (112, 114, 116, 118). The storage system may be provided with wheels and thus be mobile. It may be loaded onto a vehicle for transport from a loading area where the storage system is loaded with items for delivery, to a delivery area where the items are to be delivered by one or more delivery robots.

RELATED APPLICATIONS

This application is a continuation of U.S. Ser. No. 16/880,670 filed 21May 2020, which is a continuation of PCT/EP2018/083106, filed 30 Nov.2018, which claims priority from U.S. application Ser. No. 15/828,722,filed 1 Dec. 2017 issued as U.S. Pat. No. 10,343,286, on Jul. 9, 2019,the entire contents of each of which are hereby fully incorporatedherein by reference for all purposes.

FIELD OF THE INVENTION

The present invention relates to the storage and retrieval of items fordelivery by a delivery robot.

BACKGROUND

Typically, items are delivered by making use of vans driven by a humandriver. The items are loaded into the van at a depot. The van thendrives from the depot to the address of the recipient of an item. Thedriver unloads the item to be delivered to the recipient, walks to thedoor of the recipient, rings the recipient's door bell and hands overthe item to the recipient. The driver then walks back to the van andperforms the subsequent deliveries.

While the above described process may be satisfactory in some instances,it has certain drawbacks, particularly with regard to efficiency andusage of resources (in particular, the time of the driver and fuelconsumption). In light of such problems, US 2015/0379468A1 suggests touse small autonomous delivery vehicles to perform the final step ofdelivery. While this solution may have some advantages vis-à-vis theclassical delivery process, it is still far from optimal. That is, italso has some disadvantages and shortcomings. In particular, thedelivery process described in US 2015/0379468A1 still requires asubstantial amount of human labor. For example, the autonomous deliveryvehicle is loaded manually and the delivery van itself typically isoperated by a human driver. However, human labor may be too valuable toperform such simple tasks. Furthermore, the present process may stillnot be optimal as regards fail safety and efficiency (both as regardscosts and usage of resources).

It is an object of the present invention to overcome or at leastalleviate at least some of the shortcomings and disadvantages of theprior art. In other words, it is an object of the present invention toprovide a storage system, use and method that are more efficient and/ormore fail safe than the prior art.

SUMMARY

These objects are met by the present invention.

In a first embodiment, the invention discloses a storage system adaptedto store a plurality of items and to load a delivery robot with an item.The storage system comprises a delivery robot level, at least onestorage level other than the delivery level for storing the items, and aloading robot. The loading robot is adapted to grip the items and toload the items from a storage level to a delivery robot located on thedelivery robot level. The storage system is adapted to move the items onthe storage level.

In some embodiments, the system may be configured to load the deliveryrobot with any one of said plurality of items for delivery to adestination. The loading robot may be adapted to grip the items directlyand/or indirectly. For example, the item may be a book. Direct grippingmeans that the loading robot grips the book directly, i.e., is in directcontact with the book. Indirect gripping means that the book is locatedin another device, such as a box, and that the loading robot contactsthis other device, and thereby indirectly also grips the book. All thisshould be understood to be encompassed by the term “gripping”.Furthermore, when using the term loading the items to a delivery robot,this should be understood to encompass that the items are loaded intoand/or onto a delivery robot.

The loading robot may be adapted to grip at least one of the items andto load the item from a storage level to a delivery robot located on thedelivery robot level. In other words, the loading robot is adapted toretrieve a given item form a storage level and then load the retrieveditem to a delivery robot located on the delivery robot level.

As stated, the storage system is adapted to move the items on thestorage level. In other words, the storage system is adapted to move thegiven item within said storage level, particularly towards a pre-loadinglocation in which the given item is accessible to the loading robot.

The loading robot may be adapted to grip the given item and to load thegripped item to the delivery robot.

The storage system may be located inside of a shipping container, insidea van, and/or a building or a part of a building. The storage system mayalso be located outdoors in some embodiments.

Such a storage system allows the intermediate storing of items to betransported to the recipients of the items. The above system may beprovided as a hub for the delivery robots. Items to be delivered may betransported to the storage system by a van and may be intermediatelystored in the storage system before being loaded into or onto thedelivery robots. Thus, the storage system may increase the efficiency ofa delivery process employing delivery robots.

The delivery robot as described in the present application can beparticularly configured to operate in unstructured environments, such asoutdoor environments.

The robot can be particularly used to deliver items to deliveryrecipients over distances of a few kilometers. The robot can thereforeperform “last mile delivery”. The delivery robot can also be used forother purposes involving transporting items, and the robot can operateindoors as well.

In some embodiments, the items can be stored in boxes and the loadingrobot can be adapted to grip the boxes and to load the boxes to thedelivery robot and the storage system may be adapted to move the boxeson the storage level. The boxes can also comprise baskets, or similarcontainers configured to store items. The boxes can present a distinctadvantage in storing the items: a plurality of items can be stored inone box and loaded all at once to the delivery robot, the space can beoptimized, since the boxes can comprise a standard shape and/or a fewstandard shapes. Furthermore, the boxes can be arranged on the levels ina manner that is unsuitable for arranging the individual items (forexample, the boxes can be hanged by handles or special purpose hooksfrom supports or other corresponding holding means). Furthermore, byhaving regularly shaped boxes (instead of individually shaped objects),the handling of these boxes may also be simplified, thereby allowing fora simpler and more fail safe automation.

In particular, the items may be stored in boxes, the loading robot maybe adapted to grip a box and load the gripped box to the delivery robot;and the storage system may further be adapted to move any one of theboxes within a storage level towards said pre-loading position, suchthat said box is accessible to the loading robot.

In some embodiments, the storage system can comprise a plurality ofstorage levels for storing the items. The use of multiple levels in astorage system is particularly advantageous, since it can allow for anoptimization of the overall used space, a system and/or hierarchy in thestorage of items based on the time until they should be loaded into thedelivery robot.

In some embodiments, the storage system can comprise at least oneshuffle robot adapted to move the items on the storage level. That is,the shuffle robot can be configured to move along the storage level (orlevels) and bring the items from their storage position to a positionwhere they can be gripped by the loading robot.

That is, the storage system may be adapted to move the items on thestorage level by means of the at least one shuffle robot. However, itshould be understood that this embodiment is merely exemplary and thatthis moving of the items on the storage level may also be attained bydifferent means. As a mere example, when the items are located in boxes,the boxes could be arranged in an abutting and sliding manner andcomplete “rows” and “columns” of boxes could be pushed by respectivepusher elements to thereby bring the desired box to a desired location.Furthermore, instead of providing the shuffle robots, the storage levelscould be provided with a plurality of motor driven rollers and/orconveyors and by means of such rollers, the items can be transported onthe storage levels. It will thus be understood that while an embodimentwith a shuffle robot is described herein, other embodiments are alsopossible to move items on the storage level.

In particular, the storage system may further comprise at least oneshuffle robot adapted to move an object within a storage level to saidpre-loading location, such that the object is accessible to the loadingrobot.

In some such embodiments, the shuffle robot can be adapted to move theboxes on the storage level. That is, the shuffle robot can, for example,lift the boxes and carry them towards a specific end of the storagelevel where the loading robot can take them over. The shuffle robot canalso be configured to drag the boxes or push the boxes. The shufflerobot can also be configured to rearrange the boxes to optimize theoverall delivery robot loading time.

The shuffle robot may comprise at least one of a position sensor, acamera and a lidar sensor. This may help the shuffle robot to navigateand to perform its tasks.

In some embodiments, the storage system can comprise a plurality ofshuffle robots. For example, if multiple storage levels are present,there can be one shuffle robot per level. Additionally or alternatively,there can be a plurality of shuffle robots on each level. The advantageof this may be that the shuffle robots can access any item located onany level without having to move between the levels (or being moved bythe loading robot). In this way, the speed of loading one or more of thedelivery robots with one or a plurality of items can be optimized.

In some embodiments, the loading robot can comprise three axes ofmovement and a gripping mechanism, which may be configured for grippingobjects. That is, the loading robot can move at least parts of itselfalong at least three axes, such as up and down, forward and backward,and left and right. This can be particularly useful for retrieving itemsfrom storage levels and transferring them to the delivery robot. Forexample, the loading robot can reach to a higher storage level with thegripping mechanism, extend forward to grab an item (preferably a boxwith items), bring it below, move to the side to reach the deliveryrobot loading position, and load the delivery robot with the item. Theloading robot can also do this in reverse. That is, it can retrieve anempty box from the delivery robot, move it to a storage level(potentially a storage level for empty boxes), and then load the robotwith a new box. The gripping mechanism can comprise a mechanicalgripping mechanism that can grab items and/or fixedly attach to boxes soas to load them to the robot. The gripping mechanism can also comprisean electromagnetic gripper and/or other types of gripper.

In some embodiments, the storage system can comprise a sensor forsensing the location of an object to be gripped by the grippingmechanism. The sensor can serve to increase the fault tolerance of thesystem, any damage to the item and/or the loading robot due to incorrectpositioning of the gripping mechanism and/or dropping the item and tospeed up the operation of the storage system.

In some such embodiments, the loading robot can comprise the sensor. Inother words, the sensor can be mounted on the loading robot. That is,the sensor can be attached to the loading robot, preferably at or nearthe gripping mechanism. This may ensure that the sensor moves with theloading robot as it moves the items to the delivery robot and viceversa.

In some such embodiments, the sensor can be a camera. The sensor cancomprise a camera configured to take images and/or videos. There canalso be a plurality of cameras pointing in different directions. Thesensor can also comprise an ultrasonic sensor, an inductive sensor, ahall effect sensor and/or a combination of a plurality of sensors.

In some embodiments, the gripping mechanism can comprise a magneticgripping element, a mechanical gripping element, a pneumatic grippingelement and/or an electroadhesion gripping element.

In some embodiments, at least one storage level can comprise a pluralityof supports for supporting the boxes. The supports can compriseprotruding rods of various shapes. In other embodiments, the supportscan comprise hooks or similar contraptions configured to hang thingsfrom. The supports can be arranged such that the boxes can be placed ontop of them or hanged from them. This configuration can be particularlyadvantageous for placing the baskets on (or under) the supports, so thatthe shuffle robot (if present) can roll under them and lift them off ofthe supports, therefore placing the boxes on itself.

In some embodiments, the shuffle robot can comprise an actuator that isadapted to assume a retracted configuration and an extendedconfiguration for lifting the items. That is, the shuffle robot cancomprise a varying height that can be adjusted via the actuator.

In some such embodiments, the shuffle robot can have a first height inthe retracted configuration and a second height in the extendedconfiguration wherein the first height may be smaller than the height ofthe supports and the second height may be greater than the height of thesupports, wherein preferably the difference between the second heightand the first height is in the range of 5 mm to 100 mm, such as 10 mm to50 mm. As described above, this refers to the shuffle robot placingitself underneath a basket installed on the supports and/or hanging fromthem, and lifting itself (preferably via the actuator), in order to freethe basket from the supports and carry it. The mentioned heightdifference is particularly advantageous, as it allows for a reasonablesize of the supports while optimizing the overall space requirements.

In some embodiments, the boxes can be configured to be suspended fromthe supports; the shuffle robot can have a first height in the retractedconfiguration and a second height in the extended configuration; whereinthe first height may be smaller than a distance between the boxes and arespective storage level; and the second height may be greater than thedistance between the boxes and the respective storage level. In suchembodiments, the difference between the second height and the firstheight may be in the range of 5 mm to 100 mm, such as 10 mm to 50 mm.That is, in the configuration where the boxes are hanging above apreceding storage level (and or above the delivery robot level), theshuffle robot can take the desired box from a level below by stoppingbelow it and extending itself via the actuator.

In some embodiments the shuffle robot can comprise a plurality ofwheels. In some such embodiments, each wheel can be adapted to rotatearound a principal axis of rotation of the respective wheel and eachwheel can further comprise sections that are rotatable around differentrotation axes. For example, the wheels may be realized as omni wheels,poly wheels or mecanum wheels. This can be particularly advantageous forthe shuffle robot, since such wheels would allow it to smoothly travelin an arbitrary direction. It also contributes to the shuffle robot'smaneuverability and can serve to generally improve the spaceoptimization within the storage system.

In some embodiments, the storage system can further comprise a housingenclosing a storage compartment of the storage system. In some suchembodiments, the delivery robot level, the at least one storage leveland the loading robot can be located inside the storage compartment. Insome such embodiments, the storage compartment can have a volume of 1 m³to 1000 m³, preferably of 10 m³ to 500 m³, further preferably of 20 m³to 200 m³. That is, the present storage system can have a significantlysmaller total volume than typically known storage systems such aswarehouses.

In some such embodiments, the boxes can have a total box volume and theratio of the total box volume to the volume of the storage compartmentis at least 30%, preferably at least 50%, further preferably at least70%, most preferably at least 80%. That is, the storage compartment canbe preferably mostly occupied by boxes. The occupation density of thepresent storage system is therefore significantly large and exceedingmost typically known storage systems. The advantage can be that despitethe smaller size of the storage system, it can fit many items to beloaded into the delivery robots. Furthermore, the overall space usagecan be optimized. Such a large density can be preferably achieved by thecombination of automating the storage system (such as by using theloading robot and, preferably, the shuffle robot), and optimizing it forservicing the delivery robot.

In some embodiments, the storage system can further comprise at leastone port allowing the delivery robot to enter into the storage systemand/or to exit the storage system. In other words, the storage systemmay comprise at least one port through which the delivery robot entersand/or exits the storage system. The port can be of a suitable size toallow the delivery robot to pass through it, but not significantlylarger. The port can comprise an open and a closed position. Preferably,the port switches to the open position immediately before the deliveryrobot enters, and switches back to the closed position after thedelivery robot is inside. In other words, the port can be in the closedposition unless the delivery robot is about to enter and/or exit throughit. The port can be advantageous, as it can lead the delivery robot tothe delivery robot level where it can be loaded with items. In theclosed position, the port can ensure that the storage system isseparated from its surroundings and shielded from vandalism, weather andother undesirable factors.

In some embodiments, the storage system can comprise two ports. Forexample, one port can serve as the entry port for the delivery robot,and another port can serve as an exit port. This can be preferable tohaving only one port, since it can increase the overall speed of thedelivery robot being serviced by the storage system. For example, asecond robot approaching the storage system would not need to wait forthe first robot to exit through the only port if a plurality of ports ispresent. In some such embodiments, the storage system can comprise atleast three ports. In such embodiments, two ports can be entry ports andone port an exit port. The delivery robots can even be loaded with itemssimultaneously by one or more loading robots. The ports can also nothave a fixed function such as an “entry port” and an “exit port”, but beused interchangeably as the need arises in order to maximize the overallefficiency of the storage system.

In particular, the storage system may comprise an entry port throughwhich the delivery robot enters the storage system to be loaded with anitem for delivery; and an exit port through which the delivery robotexits the storage system after being loaded with said item for delivery,the exit port being separate from the entry port.

In some embodiments, the storage system can further comprise at leastone supply compartment to supply items to the system. The supplycompartment can be used to introduce items (or boxes) directly into thestorage system. For example, a person driving a delivery truck canarrive, load a plurality of items (or boxes) into the storage system,and depart. Additionally or alternative, the supplying of items can beat least partially automated. For example, shuffle robots can beconfigured to exit the storage system, retrieve items (or boxes) fromthe outside (such as from a servicing truck that can be manned orautonomous) and bring the items into the storage system via the supplycompartment.

In some embodiments, the loading robot and the shuffle robot can befurther adapted for the loading robot to grip and release the shufflerobot to bring the shuffle robot from one level to another. This can beadvantageous if fewer shuffle robots are present in the system thanstorage levels, if shuffle robots need to be removed from the systemfrom maintenance and/or if they need to exit the storage system (forexample, to bring in more items and/or boxes).

In particular, the loading robot may be configured to grip and releasethe shuffle robot to bring the shuffle robot from one storage level toanother, when the shuffle robot initially is in the pre-loading locationof said one storage level.

In some embodiments, the delivery robot level and at least one storagelevel can be separated by a distance not exceeding 200 cm, preferablynot exceeding 150 cm, further preferably not exceeding 100 cm. In otherwords, the delivery robot can be configured to fit into such a space.The height of the delivery robot not including any foldable componentscan comprise a height not exceeding 200 cm, preferably not exceeding 150cm, further preferably not exceeding 100 cm. This can be advantageous,as the overall space used by the storage system can be optimized.

In some embodiments, the loading robot is a vertical loading robot. Thatis, the loading robot can be configured to primarily move items, boxesand/or shuffle robots vertically.

In some embodiments, the storage system can be a mobile storage systemand can further comprise wheels for transporting the storage system. Inparticular, the storage system may comprise wheels to facilitatetransporting the storage system from a loading area where the storagesystem is loaded with items for delivery, to a delivery area where theitems are to be delivered.

For example, in case the storage system comprises the storagecompartment, said storage compartment can be fixedly mounted to a truckand/or have a trailer type modular system with temporary wheels. Thus,the storage system would be a mobile storage system that can readilytravel to different locations wherever it is needed. Furthermore, thestorage system can stay at different locations for different periods oftime based on the demand for delivery robots and items to be deliveredat such locations.

In a second embodiment, the invention discloses a storage and transportsystem. The storage and transport system comprises the storage systemaccording to any of the previously described embodiments and is furtherconfigured to be transported by a vehicle. The storage and transportsystem also comprises a vehicle configured to transport the storagesystem. The storage system is separable from the vehicle.

The storage system may be loaded into the vehicle for transport to adelivery areas. Further, a plurality of delivery robots may be loadedonto the vehicle, for performing deliveries when the vehicle arrives atthe delivery area.

In some such embodiments, the vehicle can be a truck. The truck can be amanned and/or a self-driving truck. This can be advantageous, astransport by and/or inside a truck would allow for the storage system tofit within standard sizes allowed on the roads and to be easily movableto different locations.

In a third embodiment, use of the storage system according to any of thepreviously disclosed embodiments is disclosed. The use is for storingitems and for loading at least one delivery robot with at least oneitem.

In a fourth embodiment, use of the storage and transport systemaccording to any of the previously disclosed embodiments is disclosed.The use is for storing items and for loading at least one delivery robotwith at least one item and for transporting the storage system.

In a fifth embodiment, a method of loading an item into a robot isdisclosed. The method employs the storage system according to any of thepreviously disclosed embodiments. The method comprises a delivery robotentering the storage system and the delivery robot travelling to adesignated location where it can be loaded by the loading robot. Themethod further comprises transporting an item on a storage level to apre-loading location where it can be gripped by the loading robot. Themethod also comprises the loading robot gripping the item. The methodfurther comprises the loading robot loading the delivery robot with theitem. The method also comprises the delivery robot exiting the storagesystem.

In particular, there may be provided a method of loading an item to adelivery robot, the item being located on a storage level of a storagesystem as discussed above, the method comprising: the delivery robotentering the storage system and traveling to a designated location onthe delivery robot level where the delivery robot is positioned to beloaded by the loading robot; moving the item within the storage level,to a pre-loading location in which the item is accessible to the loadingrobot; retrieving the item from said pre-loading location with theloading robot and loading the delivery robot with the retrieved item;and the delivery robot leaving the designated location and exiting thestorage system.

The method can allow for a particularly time and energy efficientloading of the delivery robot. The automated system described hereinalso allows for a high density system minimizing the unused space.

In some such embodiments, the item can be located in a box. Then, in thestep of transporting the item on the storage level to the pre-loadinglocation where it can be gripped by the loading robot, the box with theitem therein can be transported. In the step of the loading robotgripping the item, the loading robot can grip the box with the item. Inthe step of the loading robot loading the delivery robot with the item,the loading robot can load the delivery robot with the box with theitem. As described above, using standardized boxes of the same size (ora few different sizes) allows for a better use of space, easier grippingby the loading robot, quicker loading into the delivery robot (since thedelivery robot's empty box can just be replaced by the filled box) and asimpler overall infrastructure of the storage system. Thus, in someembodiments, a first plurality of boxes all having a standard size maybe present in the storage system so that each such box may loaded to anyone of a second plurality of delivery robots. This “interchangeability”of boxes among the robots makes it possible for any given robot, uponbeing properly instructed and/or controlled, to carry any package to anydestination.

In some embodiments, the storage system can comprise the shuffle robot,and the shuffle robot can perform the step of transporting an item on astorage level to a pre-loading location where it can be gripped by theloading robot. This can allow for an efficient retrieval of the desiredbox from anywhere on the storage level.

In some such embodiments, prior to the step of the shuffle robottransporting the item on the storage level to the pre-loading locationwhere it can be gripped by the loading robot, the item and the boxstoring the item can be located on supports. The shuffle robottransporting the item on the storage level to the pre-loading locationwhere it can be gripped by the loading robot can comprise the followingsteps. The shuffle robot can travel underneath the box in the retractedconfiguration. The shuffle robot can change from the retracted to theextended configuration while being underneath the box to thereby support(i.e., lift) the box. The shuffle robot can bring the box to thepre-loading location where it can be gripped by the loading robot. Inthis way, the shuffle robot can remove the boxes from supports andsafely transport them towards the loading robot. The boxes can rest onthe supports on each of the storage levels or hang from the supportsabove the below level (in which case the shuffle robot can retrieve themby traveling on the below level and extending to remove them from theabove supports).

In other words, in some embodiments, the item may be located in a boxwhich is supported by supports; and the method may include moving theitem within the storage level comprises lifting the box off of thesupports, and transporting the lifted box to the pre-loading location.

In particular, such a method may include bringing a shuffle robotunderneath the box prior to lifting the box, the shuffle robot having aretracted configuration and an extended configuration; wherein:

the shuffle robot is brought underneath the box, when the shuffle robotis in the retracted configuration, and the shuffle robot transports thebox to the pre-loading position, when the shuffle robot is in theextended position.

In some embodiments, the delivery robot can enter the storage systemthrough a first port and the delivery robot can leave the storage systemthrough a second port being different from the first port. In otherwords, the storage system can have an optimized route for the deliveryrobot through it that can allow for a quicker loading of the deliveryrobot with items and even potentially simultaneous loading of aplurality of delivery robots.

The present invention is also defined by the following numberedembodiments.

Below, system embodiments will be discussed. These embodiments carry theletter “S” followed by a number. Whenever reference is herein made tosystem embodiments, those embodiments are meant.

S1. A storage system adapted to store a plurality of items and to load adelivery robot with an item, wherein the storage system comprises

-   -   a delivery robot level,    -   at least one storage level for storing the items, the at least        one storage level being different from the delivery robot level,    -   a loading robot adapted to grip at least one of the items and to        load the item from a storage level to a delivery robot located        on the delivery robot level,    -   wherein the storage system is adapted to move the items on the        storage level.

In some embodiments, the system may be configured to load the deliveryrobot with any one of said plurality of items for delivery to adestination. The loading robot may be adapted to grip the items directlyand/or indirectly. For example, the item may be a book. Direct grippingmeans that the loading robot grips the book directly, i.e., is in directcontact with the book. Indirect gripping means that the book is locatedin another container or device, such as a box, and that the loadingrobot contacts this other device (such as a box), and thereby indirectlyalso grips the book. All this should be understood to be encompassed bythe term gripping. Furthermore, when using the term loading the items toa delivery robot, this should be understood to encompass that the itemsare loaded into and/or onto a delivery robot.

As stated, the loading robot is adapted to grip at least one of theitems and to load the item from a storage level to a delivery robotlocated on the delivery robot level. In other words, the loading robotis adapted to retrieve a given item form a storage level and then loadthe retrieved item to a delivery robot located on the delivery robotlevel.

As stated, the storage system is adapted to move the items on thestorage level. In other words, the storage system is adapted to move thegiven item within said storage level, particularly towards a pre-loadinglocation in which the given item is accessible to the loading robot.

The loading robot may be adapted to grip the given item and to load thegripped item to the delivery robot.

S2. The storage system according to the preceding embodiment, whereinthe items are stored in boxes and wherein the loading robot is adaptedto grip the boxes and to load the boxes to the delivery robot andwherein the storage system is adapted to move the boxes on the storagelevel.

In particular, the items may be stored in boxes, the loading robot maybe adapted to grip a box and load the gripped box to the delivery robot;and the storage system may further be adapted to move any one of theboxes within a storage level towards said pre-loading position, suchthat said box is accessible to the loading robot.

S3. The storage system according to any of the preceding embodiments,wherein the storage system comprises a plurality of storage levels forstoring the items.

S4. The storage system according to any of the preceding embodiments,wherein the storage system comprises at least one shuffle robot adaptedto move the items on the storage level.

That is, the storage system may be adapted to move (i.e., to change thelocation of) the items on the storage level by means of the at least oneshuffle robot. However, it should be understood that this embodiment ismerely exemplary and that this moving of the items on the storage levelmay also be attained by different means. As a mere example, when theitems are located in boxes, the boxes could be arranged in an abuttingand sliding manner and complete “rows” and “columns” of boxes could bepushed by respective pusher elements to thereby bring the desired box toa desired location. Furthermore, instead of providing the shufflerobots, the storage levels could be provided with a plurality of motordriven rollers and/or conveyors and by means of such rollers, the itemscan be transported on the storage levels. It will thus be understoodthat while an embodiment with a shuffle robot is described herein, otherembodiments are also possible to move items on the storage level.

In particular, the storage system may further comprise at least oneshuffle robot adapted to move an object within a storage level to saidpre-loading location, such that the object is accessible to the loadingrobot.

S5. The storage system according to the preceding embodiment and withthe features of embodiment S2, wherein the shuffle robot is adapted tomove the boxes on the storage level.

S6. The storage system according to any of the preceding embodiments andwith the features of embodiment S4, wherein the shuffle robot comprisesat least one of a position sensor, a camera and a lidar sensor.

S7. The storage system according to any of the 3 preceding embodiments,wherein the storage system comprises a plurality of shuffle robots.

S8. The storage system according to any of the preceding embodiments,wherein the loading robot comprises three axes of movement and agripping mechanism.

The gripping mechanism may be configured for gripping objects.

S9. The storage system according to the preceding embodiment, whereinthe storage system comprises a sensor for sensing the location of anobject to be gripped by the gripping mechanism.

S10. The storage system according to the preceding embodiment, whereinthe loading robot comprises the sensor.

In other words, the sensor may be mounted on the loading robot.

S11. The storage system according to any of the preceding 2 embodiments,wherein the sensor is a camera.

S12. The storage system according to any of the preceding 4 embodiments,wherein the gripping mechanism comprises a magnetic gripping element, amechanical gripping element, a pneumatic gripping element and/or anelectroadhesion gripping element.

S13. The storage system according to any of the preceding embodimentsand with the features of embodiment S2, wherein at least one storagelevel comprises a plurality of supports for supporting the boxes.

S14. The storage system according to any of the preceding embodimentsand with the features of embodiment S4, wherein the shuffle robotcomprises an actuator that is adapted to assume a retractedconfiguration and an extended configuration for lifting the items.

S15. The storage system according to the preceding embodiment and withthe features of the penultimate embodiment, wherein the shuffle robothas a first height in the retracted configuration and a second height inthe extended configuration and wherein the first height is smaller thanthe height of the supports and the second height is greater than theheight of the supports, wherein preferably the difference between thesecond height and the first height is in the range of 5 mm to 100 mm,such as 10 mm to 50 mm.

S16. The storage system according to any of the preceding embodimentsand with the features of embodiments S2 and S14 wherein the boxes areconfigured to be suspended from the supports;

-   -   the shuffle robot has a first height in the retracted        configuration and a second height in the extended configuration;    -   the first height is smaller than a distance between the boxes        and a respective storage level; and    -   the second height is greater than the distance between the boxes        and the respective storage level; and wherein    -   preferably the difference between the second height and the        first height is in the range of 5 mm to 100 mm, such as 10 mm to        50 mm.

S17. The storage system according to any of the preceding embodimentswith the features of embodiment S4, wherein the shuffle robot comprisesa plurality of wheels.

S18. The storage system according to the preceding embodiment, whereineach wheel is adapted to rotate around a principal axis of rotation ofthe respective wheel and wherein each wheel further comprises sectionsthat are rotatable around different rotation axes.

For example, the wheels may be realized as omni wheels, poly wheels ormecanum wheels.

S19. The storage system according to any of the preceding embodiments,wherein the storage system further comprises a housing enclosing astorage compartment of the storage system.

S20. The storage system according to the preceding embodiment, whereinthe delivery robot level, the at least one storage level and the loadingrobot are located inside the storage compartment.

S21. The storage system according to any of the preceding 2 embodiments,wherein the storage compartment has a volume of 1 m³ to 1000 m³,preferably of 10 m³ to 500 m³, further preferably of 20 m³ to 200 m³.

S22. The storage system according to any of 3 preceding embodiments andwith the features of embodiment S2, wherein the boxes have a total boxvolume and wherein the ratio of the total box volume to the volume ofthe storage compartment is at least 30%, preferably at least 50%,further preferably at least 70%, most preferably at least 80%.

S23. The storage system according to any of the preceding embodiments,wherein the storage system further comprises at least one port allowingthe delivery robot to enter into the storage system and/or to exit thestorage system.

In other words, the storage system may comprise at least one portthrough which the delivery robot enters and/or exits the storage system.

S24. The storage system according to the preceding embodiment, whereinthe storage system comprises two ports.

In particular, the storage system may comprise an entry port throughwhich the delivery robot enters the storage system to be loaded with anitem for delivery; and an exit port through which the delivery robotexits the storage system after being loaded with said item for delivery,the exit port being separate from the entry port.

S25. The storage system according to the preceding embodiment, whereinthe storage system comprises at least three ports.

S26. The storage system according to any of the preceding embodiments,wherein the storage system further comprises at least one supplycompartment to supply items to the system.

S27. The storage system according to any of the preceding embodimentswith the features of embodiment S4, wherein the loading robot and theshuffle robot are further adapted for the loading robot to grip andrelease the shuffle robot to bring the shuffle robot from one level toanother.

In particular, the loading robot may be configured to grip and releasethe shuffle robot to bring the shuffle robot from one storage level toanother, when the shuffle robot initially is in the pre-loading locationof said one storage level.

S28. The storage system according to any of the preceding embodiments,wherein the delivery robot level and at least one storage level areseparated by a distance not exceeding 200 cm, preferably not exceeding150 cm, further preferably not exceeding 100 cm.

S29. The storage system according to any of the preceding embodiments,wherein the loading robot is a vertical loading robot.

S30. The storage system according to any of the preceding embodiments,wherein the storage system further comprises a controller, wherein thecontroller is configured to

-   -   control the storage system to move the items on the storage        level; and    -   control the loading robot.

S31. The storage system according to the preceding embodiment and withthe features of embodiment S4, wherein the controller is furtherconfigured to control the shuffle robot.

S32. The storage system according to any the two preceding embodimentsand with the features of embodiment S23, wherein the controller isfurther configured to control the at least one port.

S33. The storage system according to any of the three precedingembodiments, wherein the controller is further configured to communicatewith a delivery robot.

S34. The storage system according any of the preceding embodiments,wherein the storage system is a mobile storage system and furthercomprises wheels for transporting the storage system.

For example, in case the storage system comprises the storagecompartment, said storage compartment can be fixedly mounted to a truckand/or have trailer type modular system with temporary wheels. Thus, thestorage system would be a mobile storage system that can readily travelto different locations wherever it is needed.

In particular, the storage system may comprise wheels to facilitatetransporting the storage system from a loading area where the storagesystem is loaded with items for delivery, to a delivery area where theitems are to be delivered.

S35. A storage and transport system comprising

-   -   the storage system according to any of the embodiments S1 to        S33, wherein the storage system is configured to be transported        by a vehicle;    -   a vehicle configured to transport the storage system;    -   wherein the storage system is separable from the vehicle.

The storage system may be loaded into the vehicle for transport to adelivery areas. Further, a plurality of delivery robots may be loadedonto the vehicle, for performing deliveries when the vehicle arrives atthe delivery area.

S32. The storage and transport system according to the precedingembodiment, wherein the vehicle is a truck.

Below, use embodiments will be discussed. These embodiments carry theletter “U” followed by a number. Whenever reference is herein made touse embodiments, those embodiments are meant.

U1. Use of the storage system according to any of the embodiments S1 toS33 for storing items and for loading at least one delivery robot withat least one item.

U2. Use of the storage and transport system of embodiments S34 or S35,for storing items and for loading at least one delivery robot with atleast one item and for transporting the storage system.

Below, method embodiments will be discussed. These embodiments carry theletter “M” followed by a number. Whenever reference is herein made tomethod embodiments, those embodiments are meant.

M1. A method of loading an item into a robot, the method employing thestorage system according to any of the preceding system embodiments, themethod comprising

-   -   a delivery robot entering the storage system and the delivery        robot travelling to a designated location where it can be loaded        by the loading robot;    -   transporting an item on a storage level to a pre-loading        location where it can be gripped by the loading robot;    -   the loading robot gripping the item;    -   the loading robot loading the delivery robot with the item;    -   the delivery robot exiting the storage system.

In particular, there may be provided a method of loading an item to adelivery robot, the item being located on a storage level of a storagesystem according to any of the preceding system embodiments, the methodcomprising: the delivery robot entering the storage system and travelingto a designated location on the delivery robot level where the deliveryrobot is positioned to be loaded by the loading robot; moving the itemwithin the storage level, to a pre-loading location in which the item isaccessible to the loading robot; retrieving the item from saidpre-loading location with the loading robot and loading the deliveryrobot with the retrieved item; and the delivery robot (2) leaving thedesignated location and exiting the storage system.

M2. The method according to the preceding embodiment, wherein the itemis located in a box and wherein

-   -   in the step of transporting the item on the storage level to the        pre-loading location where it can be gripped by the loading        robot, the box with the item is transported;    -   in the step of the loading robot gripping the item, the loading        robot grips the box with the item; and    -   in the step of the loading robot loading the delivery robot with        the item, the loading robot loads the delivery robot with the        box with the item.

M3. The method according to any of the preceding method embodiments,wherein the storage system comprises the features of embodiment S4,wherein the shuffle robot performs the step of transporting an item on astorage level to a pre-loading location where it can be gripped by theloading robot.

M4. The method according to the preceding embodiment, wherein the systemcomprises the features of embodiments S13 and S14,

-   -   wherein prior to the step of the shuffle robot transporting the        item on the storage level to the pre-loading location where it        can be gripped by the loading robot, the item and the box        storing the item are located on supports; and    -   wherein the shuffle robot transporting the item on the storage        level to the pre-loading location where it can be gripped by the        loading robot comprises        -   the shuffle robot travelling underneath the box in the            retracted configuration,        -   the shuffle robot changing from the retracted to the            extended configuration while being underneath the box to            thereby support the box, and        -   the shuffle robot bringing the box to the pre-loading            location where it can be gripped by the loading robot.

In other words, in some embodiments, the item may be located in a boxwhich is supported by supports; and the method may include moving theitem within the storage level comprises lifting the box off of thesupports, and transporting the lifted box to the pre-loading location.

In particular, such a method may include bringing a shuffle robotunderneath the box prior to lifting the box, the shuffle robot having aretracted configuration and an extended configuration; wherein:

the shuffle robot is brought underneath the box, when the shuffle robotis in the retracted configuration, and the shuffle robot transports thebox to the pre-loading position, when the shuffle robot is in theextended position.

M5. The method according to any of the preceding method embodiments,wherein the system comprises the features of embodiment S24, wherein

-   -   the delivery robot enters the storage system through a first        port and    -   the delivery robot leaves the storage system through a second        port which is different from the first port.

BRIEF DESCRIPTION OF DRAWINGS

The invention will now be described with reference to exemplaryembodiments and with reference to the accompanying drawings. It shouldbe understood that this description is merely exemplary and should onlyexemplify the invention, and not limit it.

FIG. 1 depicts a storage system in accordance with an embodiment of thepresent invention;

FIG. 2 depicts a storage system in accordance with a further embodimentof the present invention, where the housing is depicted as transparentfor illustration purposes;

FIGS. 3 to 5 depict a loading robot to be employed in embodiments of thepresent invention;

FIGS. 6 and 7 depict a shuffle robot with a box employed in embodimentsof the present invention;

FIGS. 8 and 9 depict side views of storage systems in accordance withembodiments of the present invention;

FIGS. 10 and 11 depict perspective views of a storage system inaccordance with an embodiment of the present invention;

FIG. 12 depicts a partial side view of a storage system in accordancewith an embodiment of the present invention; and

FIGS. 13 to 17 c depict embodiments of gripping mechanisms to beemployed in embodiments of the present invention; and

FIG. 18 depicts an embodiment of a delivery robot configured to beloaded by the storage system; and

FIG. 19 schematically depicts the communication and control of thestorage system and the delivery robot.

DETAILED DESCRIPTION

FIG. 1 depicts a storage system 100. The storage system 100 is adaptedto store items and to load items into a delivery robot 2, which deliveryrobot 2 is also depicted in FIG. 1 . Simply put, the depicted storagesystem 100 is adapted to load and unload items into and out of thedelivery robot 2. More particularly, the storage system may also storeitems safely, in right temperature, humidity, etc. conditions, until thedelivery time starts, as will be described in further detail below. Thestorage system could also store one or more delivery robots 2 and havefully automated systems for delivery robot servicing, like batteryswapping, cleaning, telemetry, etc. The storage system could be builtonly for delivery robot storage and maintenance. It will be understoodthat the described storage system 100 may increase the efficiency andthe fail safety of the overall process.

The storage system 100 comprises a housing 102 delimiting a storagecompartment of the storage system 100. It will be understood that only asection of the housing 102 is depicted in FIG. 1 and that some otherportions of the housing 102 are depicted as transparent in FIG. 1 toexpose the inside of the storage system 100. The housing 102 protectsthe inside of the storage system 100 from environmental influences, suchas wind, rain, hail and snow. The housing 102 further serves to preventunauthorized access to the storage system 100.

FIG. 2 depicts an embodiment of a storage system 100, where all thehousing sections have been made transparent to reveal the completeinside of the storage system 100. The storage system 100 comprisesdifferent levels, including a delivery robot level 110 and one or morestorage levels 112, 114, 116. In the depicted embodiment, the deliveryrobot level 110 is the ground level and the storage levels 112, 114, 116are above the delivery robot level 110. However, it will be understoodthat other configurations are also possible. In FIG. 2 , there is also aplurality of delivery robots 2 that are located on the delivery robotlevel 110. That is, the delivery robots 2 can be housed in the storagesystem 100 when not out for deliveries. On each storage level 112, 114,116, there is a plurality of boxes 120 that may house items. The boxes120 have a size to fit into the delivery robots 2. As will beunderstood, the storage system 100 can load the boxes 120 into therobots 2 and can unload the boxes 120 from the robots 2.

For the loading and unloading, the storage system 100 comprises aloading robot 130 that is schematically depicted in FIG. 2 and discussedin further detail below. The loading robot 130 is adapted to grip andrelease a box 120 and to transport it in a cartesian direction, such asin the vertical direction. Thus, the loading robot 130 depicted in theembodiments may also be referred to as a vertical loading robot 130.Thus, the loading robot 130 may grip a box 120 that is located on one ofthe storage levels 112, 114, 116, move the box 120 vertically and loadit into a delivery robot 2 located on the delivery robot level 110.Furthermore, the loading robot 130 may also grip a box 2 that is locatedin a delivery robot 2, which delivery robot 2 is located on the deliveryrobot level 110, move it to a storage level 112, 114, 116 and releasethe box 2 at such a storage level 112, 114, 116 and optionally movehorizontally.

One example of a loading robot 130 is depicted in FIG. 3 . The depictedloading robot 130 is adapted to move along three axes 132, 134, 136 thatare perpendicular to one another. More particularly, the loading robot130 is adapted to move along a vertical axis 132 (that may also bereferred to as the z-axis) and two horizontal axes 134 (that may also bereferred to as the x-axis), 136 (that may also be referred to as they-axis). Note, that the x-axis 134 is only partially shown in thefigure, and the direction of motion along it is further indicated with adouble-sided arrow “x-axis”. Furthermore, the loading robot 130 has agripper mechanism 140 that is adapted to grip and release a box 120 oranother object, for example a shuffle robot 150.

Again with reference to FIG. 2 , it will be understood that the loadingrobot 130 may move along the vertical axis 132 in an upward direction,grip box 120′ by means of its gripper mechanism 140, move down along thevertical axis 132, place the box 120′ in a delivery robot 2 and releaseit there.

Further details of the loading robot 130 depicted in FIG. 3 can also beseen in FIGS. 4 and 5 . As discussed, the loading robot 130, or, moreparticularly, its gripper mechanism 140, is adapted to move along theaxes 132, 134, 136. As can be seen in FIGS. 4 and 5 , this movement maybe achieved by means of gear racks 1322, 1342, 1362. That is, gear rack1322 moves the gripper mechanism 140 along axis 132, gear rack 1342moves the gripper mechanism 140 along axis 134 (only schematically shownin the figure), and gear rack 1362 moves the gripper mechanism 140 alongaxis 136. Furthermore, the loading robot 130 comprises three motors1320, 1340, 1360, each motor driving a gear wheel in engagement with therespective gear rack 1322, 1342, 1362. The motors 1320, 1340, 1360 cancomprise hybrid-stepper motors. It will be understood that thismechanism of moving the loading robot 130 is merely exemplary and thatthere are other possibilities to have another type of mechanical linearaxes movements. Thus, the gripping mechanism 140 may move along the axes132, 134, 136.

Embodiments of the gripping mechanism 140 are depicted in FIGS. 13 to 17c. FIG. 13 depicts a first embodiment of a gripping mechanism 140. Thisgripping mechanism 140 includes magnetic elements 142 (such as twomagnetic elements 142), only one of which is labeled in FIG. 13 . In thedepicted embodiment, the magnetic elements 142 are located on a bar 144of the gripping mechanism 140. The magnetic elements 142 are realized asmagnetic jaws 142. The magnetic elements 142 typically areelectromagnets and their magnetic properties can be switched on and offby means of an electric current, as is known to those skilled in theart. It will be understood that by means of the gripping mechanism 140depicted in FIG. 13 , boxes 120 having a magnetic section can begripped. The magnetic sections are typically formed of a ferromagneticmaterial. That is, the gripping mechanism 140 may be positioned at thebox 120 having a magnetic section (or magnetic sections), the magneticelements 142 may be switched on to thereby “grip” the box by means ofthe electromagnetic force. The box 120 may then be repositioned by meansof the loading robot 130. Once the box 120 is positioned at the desiredlocation, the magnetic elements 140 can be switched off to therebyrelease the box 120.

FIG. 13 also depicts a sensor 170, which is typically realized as acamera 170. That is, the system 100 may comprise a sensor 170 and moreparticularly a camera 170. In the depicted embodiment, the sensor 170 isa part of the loading robot 130 and its position is fixed with respectto the gripping mechanism 140. The sensor 170 senses the location of thebox 120 to be gripped by the gripping mechanism 140 and therefore allowsthe gripping mechanism 140 to be located at a location allowing grippingof the box 120. The sensor 170 can also be placed differently.Furthermore, there can be a plurality of sensors 170, such as aplurality of cameras 170.

A further embodiment of the gripping mechanism 140 is depicted in FIGS.14 and 15 a to 15 c. Again, the system 100 (and more particularly theloading robot 130) comprises a sensor 170, such as a camera 170, forsensing the location of an object to be gripped, such as a box 120 (seeFIG. 14 ). In the embodiment depicted in FIGS. 14 and 15 a to 15 c, thegripping mechanism 140 comprises a bar 144 and turning elements 146(such as two turning elements 146), which turning elements 146 aredepicted in greater detail in FIGS. 15 a to 15 c . Each turning element146 comprises a locking element 1462 that is rotatable around a rotationaxis. The locking element 1462 is non-symmetrical. More particularly,when viewed along the rotation axis, the locking element 1462 may have afirst extension in a first direction and a second extension in a sectiondirection, which second direction is perpendicular to the firstdirection. These extensions may be different. More particularly, thefirst extension may be at least 110%, preferably at least 150% of thesecond extension. For example, when viewed along the axis of rotation,the locking element 1462 may be rectangular.

A box 120 to be used with such a gripping mechanism 140 may comprise cutouts 122 (see FIGS. 14 and 15 a to 15 c). The cut outs 122 and thelocking element 1462 may be configured (e.g., sized and shaped) suchthat the locking element 1462 fits through the cut outs 122 in a firstconfiguration (“unlocked configuration”), but does not fit through thecut outs 122 in a second configuration (“locked configuration”) in whichthe locking element 1462 is rotated in a horizontal plane, relative tothe first configuration. With particular reference to FIG. 14 , it willbe understood that the gripping mechanism 140 may be brought to thefirst, unlocked configuration where the locking elements 1462 fitthrough the cut outs 122 provided on opposite ends of the box 120 andthe locking elements 1462 may be guided through the cut outs 122 in thisconfiguration. Once extending through the cut outs 122, the lockingelements 1462 may be brought to the second, locked configuration notallowing them to fit through the cut outs 122 (that is the configurationdepicted in FIG. 15 a ). It will be understood that the box 120 may beraised and moved when the gripping element 140 assumes this second,locked configuration. Once the box 120 has been brought to the desiredlocation, the locking elements 1462 may again be brought to the first,unlocked configuration allowing them to fit through the cut outs 122.When the gripping element 140 is raised in this configuration, the box120 is released.

FIGS. 16 and 17 a to 17 c depict a further embodiment of a grippingmechanism 140. Again, the gripping mechanism 140 comprises a bar 144 andpincer-type gripper devices 148 (seen in further detail in FIGS. 17 a to17 c ). The pincer-type gripper devices 148 may be adapted to grip anobject (such as a box 120) similar to a pincer gripping elements, thatis, by two opposing parts being brought closer to one another. It willbe understood that also this gripping mechanism 140 allows objects to begripped and released. FIG. 17 a shows the analogous view to FIG. 15 a ,with the pincer-type gripper devices 148 used. The cut outs 122 can alsobe shaped differently for this different version of the gripper devices148.

The gripping mechanism 140 and the loading robot 130 can also berealized in different ways. For example, the loading robot 130 cancomprise a 7 axis robot configured to pick up individual items and loadthem into delivery robots 2. In such embodiments, the gripping mechanism140 can comprise a mechanical arm or a similar mechanism.

Again with reference to FIG. 2 , it will be understood that the loadingrobot 130 can grip box 120′ and load it into robot 2. However, it willalso be understood that there may be boxes that are so far removed fromthe loading robot 130 that the gripper 140 cannot reach them, eitherbecause the gripper 140 cannot extend to the desired box 120 or becausethere are other intervening boxes 120 between the gripper 140 and thedesired box 120. For example, with reference to FIG. 2 , the boxes inthe last row on level 116, i.e., in the row furthest removed from theloading robot 130, cannot, in the configuration in FIG. 2 , be grippedby the loading robot 130. To also be able to put these boxes in thedelivery robot 2, the storage system 100 is adapted to change thelocation of the boxes on the storage levels. For example, there may beprovided pusher elements pushing complete “rows” or “columns” of boxes.Furthermore, there may be provided driven roller elements or conveyorbelts on the storage levels for changing the location of the boxes. Inthe embodiment depicted, e.g., in FIG. 9 , there is provided at leastone shuffle robot 150 to move the boxes on the storage levels. Oneembodiment of an exemplary shuffle robot 150 (together with a box 120)is depicted in FIGS. 6 and 7 .

Generally, the shuffle robot 150 is adapted to change the horizontalposition of the boxes 120 located on a given one of the storage levels112, 114, 116. One role of the shuffle robot is to bring a given box 120to a pre-loading location in which the box 120 is accessible to theloading robot 130. In the depicted embodiment, the shuffle robot 150 isa freely moving robot, i.e., a robot that may reach any location and isnot limited in its movement, e.g., by rails (as is the above discussedloading robot 130). More particularly, the shuffle robot 150 comprises aplurality of wheels 152, for example, four wheels 152. Furthermore, itmay comprise an actuator 154 adapted to be lowered and raised between aretracted position and one or more extended position. In the retractedposition of the actuator, the shuffle robot 150 may have a first heightH of 250 to 10 mm, such as 150 to 50 mm, and more preferably 130 to 75mm. In the extended position of the actuator, the shuffle robot 150 mayhave a second height H of 300 to 15 mm, such as 200 to 60 mm, and morepreferably 140 to 85 mm. The difference between the first height and thesecond height may be in the range of 5 mm to 100 mm, and preferably inthe range of 10 mm to 50 mm.

The shuffle robot 150 can also comprise sensors that can detect theshuffle robot's environment. For example, the shuffle robot 150 cancomprise sensors that allow it to localize itself within a level 112,114, 116, 118 and locate the correct box 120. Such sensors may compriseposition sensors, visual cameras, ultrasonic sensors, radar sensors,Lidar sensors, time of flight cameras, accelerometers, dead-reckoningsensors and/or further sensors. The shuffle robot 150 can also comprisespecific sensors configured to distinguish the boxes 120. For example,the shuffle robot 150 can comprise an RFID reader (with the boxes 120comprising RFID tags), a QR code reader (with the boxes 120 bearing QRcodes) and/or other similar sensors.

Again with reference to FIG. 2 (and with further reference to FIGS. 8and 9 ), it is noted that the boxes 120 located on the storage levels112, 114, 116 are supported by supports 160, only some of which supports160 are marked with the reference numeral 160 for clarity and simplicityof illustration. The supports 160 support the boxes 120 in such a waythat a portion, but not all, of the bottom section of each box 120 issupported. In particular, the supports 160 allow the actuator 154 of theshuffle robot 150 to lift the box 120 from the supports 160 and theshuffle robot 150 to move around the supports.

It will be understood that the height of the supports is larger than thefirst height H of the shuffle robot 150 in a state where the actuator154 is retracted, but smaller than the second height H of the shufflerobot 150 in a state where the actuator 154 is extended.

It will be understood that the shuffle robot(s) 150 can thus be used torelocate the boxes 120 on the storage levels 112, 114, 116, 118. Moreparticularly, the shuffle robot 150 (also schematically depicted in FIG.9 ) may relocate itself underneath a box 120 in the retracted state,i.e., the shuffle robot 150 may travel to a position underneath the box120 while being in the retracted state. Once it is positioned underneaththe desired box, the shuffle robot 150 may assume an extendedconfiguration, thereby lifting off the box 120 from the supports 160. Itmay thus transport the box 120 “piggy-back”. In this configuration, itcan change the position of the box 120. Again with reference to FIG. 2 ,in particular, the shuffle robot 150 can bring the box 120 to apre-loading location where the box, or at least an item containedtherein, can be reached by the loading robot 130.

While the boxes 120 being supported on such supports 160 is oneembodiment, the person skilled in the art will understand that otherembodiments are also possible. For example, the boxes 120 may also besuspended, or they may be supported from the sides.

Again with reference to FIG. 7 , it will be noted that the wheels 152may be realized as omni wheels, poly wheels or mecanum wheels. That is,each wheel 152 may be rotatable around a wheel's principal axis ofrotation. Furthermore, each wheel 152 may additionally compriserotatable sections 1522 and each such rotatable section 1522 may berotatable around an axis of rotation different from the principle axisof rotation of the respective wheel 152. It will be understood that withsuch wheels 152, the shuffle robot 150 may move completely freely in anydirection without having a turning radius, i.e., with a “zero turnradius”. This may simplify the operation of the system 100 and make itmore efficient.

With reference to FIG. 1 again, the housing 102 of the storage system100 may include at least one port 104 (which may also be referred to asopening or access point), through which the delivery robot 2 may enterinto and exit the storage system 100. In a preferred embodiment the port104 permits the delivery robot to enter within a footprint of thestorage system 100, e.g., within a minimum bounding rectangle of thestorage system 100 in a top view thereof. It will further be understoodthat in some embodiments, there may be two ports 104, such that one port104 (the “entry port”) is used by the delivery robots 2 for entering andthe other port 104 (the “exit port’) is used for exiting. This mayenhance the efficiency, as the delivery robots 2 can then be guidedthrough the storage system 100 in the same direction (instead ofentering and exiting in opposite directions). It will further beunderstood that the port 104 (or the ports 104) may be closable, therebylimiting the access to the storage system 100. Such a configuration withtwo ports for the delivery robots 2 is exemplarily depicted in FIG. 10 .

Reference will now be made to the embodiment depicted in FIG. 11 . Inaddition to components already discussed, this embodiment comprises aplurality of supply compartments 106 (though it is noted that in someembodiments, only one supply compartment 106 may be provided). Thesupply compartment 106 may comprise a door allowing restricted access tothe supply compartment 106. The supply compartment 106 may be used asdepicted in FIG. 12 . In particular, it may be used to supply items intothe boxes 120 and/or to supply boxes 120 to the storage system 100. Thatis, in one scenario, where items are to be supplied to the storagesystem 100, the discussed shuffle robot 150 may bring a box 120 to asupply compartment 106. The door of the supply compartment 106 may thenbe opened (either automatically or manually). Once the door is open, auser 4 may place the items into the respective box 120 in the supplycompartment 106. The door may then close. Thus, by means of the supplycompartments 106, items may be supplied to the storage system 100.

FIG. 18 depicts an embodiment of a delivery robot 2 that can be loadedby the storage system 100. The delivery robot 2 comprises a body 200.The body 200 comprises an item compartment into which items loaded bythe storage system 100 can be transported.

The mobile robot 2 further comprises a motion component 320 (depicted aswheels 320). In the present embodiment, the motion component 320comprises six wheels 320. This can be particularly advantageous for themobile robot 2 when traversing curbstones or other similar obstacles onthe way to delivery recipients. In other embodiments, the motioncomponent can comprise rollers, tracks or other structures.

The mobile robot 2 further comprises a flagpole or stick 330 used toincrease the visibility of the robot. Particularly, the visibility ofthe robot during road crossings can be increased. In some embodiments,the flagpole 330 can comprise an antenna. The mobile robot 2 furthercomprises robot headlights 340 configured to facilitate the robot'snavigation in reduced natural light scenarios and/or increase therobot's visibility further. The headlights are schematically depicted astwo symmetric lights 340, but can comprise one light, a plurality oflights arranges differently and other similar arrangements.

The mobile robot 2 also comprises sensors 210, 220, 230, 240, 250, and290. The sensors are depicted as visual cameras in the figure, but canalso comprise radar sensors, ultrasonic sensors, Lidar sensors, time offlight cameras and/or other sensors. Further sensors can also be presenton the mobile robot 2. One sensor can comprise a front camera 210. Thefront camera 210 can be generally forward facing. The sensors may alsocomprise front, side and/or back stereo cameras 220, 230, 240, 250, 290.The front stereo cameras 220 and 230 can be slightly downward facing.The side stereo cameras 240 and 250 can be forward-sideways facing.There can be analogous side stereo cameras on the other side of therobot (not shown in the figure). The back stereo camera 290 can begenerally backward facing. The sensors present on multiple sides of therobot can contribute to its situational awareness. That is, the robot 2can be configured to detect approaching objects and/or hazardous movingobjects from a plurality of sides and act accordingly.

The sensors can also allow the robot to navigate and travel to itsdestinations at least partially autonomously. That is, the robot can beconfigured to map its surroundings, localize itself on such a map andnavigate towards different destinations using in part the input receivedfrom the multiple sensors. The sensors can also allow the delivery robot2 to enter the storage system 100, to stop at a loading position and toexit the storage system 100 after being loaded. That is, the mobilerobot 2 may be configured to operate in an unstructured outdoorenvironment and may, in particular, be configured to operate onsidewalks.

It is understood that the robot is provisioned with a controllerconfigured to govern operation of the robot, and also with an onboardcommunication component to wirelessly send and/or receive instructions,data, status information, images, etc.

FIG. 19 schematically depicts communication and coordination of thestorage system 100 and the robot 2. Controller 1000 is schematicallyshown in the figure. The controller 1000 can comprise a local and/or aremote server or a collection of servers. The controller 1000 cancoordinate the functioning of the storage system 100. For example, thecontroller 1000 may receive a communication from a delivery robot 2 thatit has approached the storage system 100. In response, the controller1000 then opens the entry port 104 so that the delivery robot 2 canenter the storage system 100. The controller 1000 may also then commandthe loading robot 130 to load the delivery robot 2 with the items thatit should be loaded with. The controller 1000 may comprise acommunication component (for example, to communicate with the deliveryrobots 2) and a memory component. The memory component of the controller1000 may include a database comprising records for each delivery item.For example, a record may include data related to the identity of theitems and its location in the storage system 100, as well as itsidentifying tags such as RFID and QR or other codes. The records canalso comprise information related to the destination of the differentitems. The controller 1000 can then determine which delivery robot 2should be loaded with which items at which time. The controller 1000 canalso generally coordinate the operation of the storage system 100, suchas keeping track of the available storage space, delivery dates andtimes, any maintenance and repairs and perform other tasks related tothe running of the storage system 100. The controller 1000 can belocated within the storage system 100 as a local CPU or a similarcomponent, or it can be a remote controller 1000 communicating itscommands to the storage system 100 or receiving transmissions from itvia a communication component.

That is, in general terms, the controller 1000 may communicate with therobots 2 and the with the storage system 100. For instance, when a robot2 approaches the system 100, this may be communicated from the robot 2to the controller 1000, and the controller may then instruct the system100 to open the port 104 to allow the robot 2 to enter the system 100.The robot 2 may then autonomously travel to the vicinity of the loadingrobot 130, i.e., to a designated location where the loading robot 130may reach into the delivery robot 2. When a robot 2 enters the storagesystem 100, it is usually empty, as it has just performed a delivery.That is, it may only carry an empty basket or box 120. Once the deliveryrobot 2 is located in the vicinity of the loading robot 120, thecontroller 1000 may instruct the loading robot 130 to grip the emptybasket (also referred to as box 120) in the delivery robot 2 and toplace it onto one of the storage levels 112, 114, 116, 118. Moreparticularly, the controller 1000 may determine where the box 120 is tobe placed. Furthermore, the controller 1000 may also control theoperation of the shuffle robot(s) 150. That is, it may also controlwhere the empty box 120 that has just be taken from the delivery robot 2is to be placed on the storage level by a shuffle robot 150.

Further still, the controller 1000 further determines which box 120 (or,more generally, which item) is next loaded into the delivery robot 2. Todo so, the controller 1000 may access a memory component. The memorycomponent may store information relating to different details,including, e.g., which items are presently in the storage system, wherethe items need to be delivered to, and when the items need to bedelivered. Depending on any (or all) of these aspects, the controller1000 may determine which item or box 120 is to loaded into the deliveryrobot 2 next. If this determination is done, the controller 1000 mayinstruct the shuffle robot 150 to bring this item/box 120 to apre-loading location where it can be reached by the loading robot 130.Further, the controller 1000 may then also instruct the loading robot130 to grip this box/item 120 and to load it into the delivery robot 2.

Further still, the controller 1000 may also send delivery information(relating to the delivery address) to the delivery robot 2, which maythen navigate autonomously (i.e., without the help of a human operator)or semi-autonomously (i.e., with a human operator assisting only incertain instances, such as, when crossing a road) to the deliveryaddress and deliver the item there.

One way of operation of the storage system 100 will now be described. Aswill be understood, the storage system 100 may be used for temporarilystoring items to be transported to recipients. That is, instead of a vangoing all the way to the recipient, one storage system 100 may be usedas a hub to serve as the distribution center for a plurality ofrecipients, such as for the recipients in a defined area (e.g., aneighborhood, a subdivision or, say, an area of 1 (km)²). A van maybring all the items for this area to the storage system 100. Here, theitems may be unloaded or transferred to the storage system 100. Inparticular, the shuffle robot 150 may bring the boxes 120 to be loadedto the supply compartments 106 and a user may supply these boxes 120with items. Once loaded with items, the shuffle robot 150 may move theboxes 120 away from the supply compartment 106. Each box 120 may then bebrought to a waiting position or storage position in the storage system100. In case the box 120 is already located on the intended storagelevel 112, 114, 116, 118, the shuffle robot 150 may simply bring the box120 to a storage position on this level 112, 114, 116, 118. In case itis desirable that the box 120 is stored on another storage level, thebox 120 is brought into reach of the loading robot 130, and the loadingrobot 130 brings the box to the other storage level. Once it arrives atthis other storage level, a shuffle robot 150 on this level may be usedto bring the box 120 to its storage position.

For the sake of completeness, it is noted that the loading robot 130 mayalso be used to bring a shuffle robot 150 from one storage level toanother. In the foregoing, it has been described how items may be inputinto the storage system 100.

However, in alternative embodiments, the shuffle robots 150 may also beused to bring items from a van to the storage system 100. In suchembodiments, a van equipped with items may park close to the storagesystem 100, and the shuffle robot 2 may travel to the van, unload itemsfrom the van and bring the items (e.g., boxes) into the storage system100.

Furthermore, the storage system 100 may also be used to equip a deliveryrobot 2 with items. A typical scenario is that a delivery robot 2 comesto the storage system 100 after having performed a delivery. In such ascenario, the delivery robot 2 is typically equipped with an empty box120. The delivery robot 2 may enter the storage system 100 through anentry port 104. It then travels to a designated location where it can bereached by the loading robot 130. The gripping mechanism 140 of theloading robot 130 is then used to grip the empty box located in thedelivery robot 2 and to bring it to a storage level 112, 114, 116, 118.Here, it may be relocated by means of a respective shuffle robot 150.For example, the empty box 120 may be brought to a supply compartment106 to be later supplied with another item to be delivered.

When the item to be presently delivered is determined, a shuffle robot150 travels underneath the box 120 housing the item, lifts the box 120and transports it to the vicinity of the loading robot 130 (i.e., to apre-loading location where it can be gripped by the loading robot 130).The loading robot 130 then grips the box 120 and places it into thedelivery robot 2. The delivery robot 2 may then leave the storage system100 through an exit port 104 and deliver the item to the recipient.

In some embodiments, each storage level 112, 114, 116, 118 may have adedicated shuffle robot 150 assigned to that level only. It is furtherunderstood that shuffle robots on various levels may operateindependently of one another. Thus, the storage system 100 is configuredsuch that boxes 120 on different storage levels 112, 114, 116, 118 maymove simultaneously. Consequently, while a box 120 on one storage levelmoves towards that storage level's pre-loading location where it can beaccessed by a loading robot 130, a box on a different storage level maysimultaneously move towards its corresponding pre-loading location.

In another embodiment, the storage system 100 can be mobile. That is,the storage system 100 can comprise wheels and be adapted to moveautonomously, semi-autonomously, be driven by a driver or even bewheeled (loaded) onto a vehicle, such as a truck, and then be driven bya driver. Such a storage system 100 can be loaded with delivery itemswhen the system is located in a loading area, such as at a large depot,and then transported to a delivery area where the items are to bedelivered. One or more delivery robots (2) occupying the delivery robotlevel (110) may also be transported at this time. Upon arriving at thedelivery area, the one or more delivery robots 2 can proceed to deliverthe items from the storage system 100 to the respective recipients. Onceall of the items have been delivered and/or other conditions arefulfilled (such as a particular time interval), the delivery robots (2)reenter the vehicle and once again occupy the delivery robot level(110). The vehicle with the storage system 100 can depart the deliveryarea and move to another delivery area or go to a depot to be loadedwith further items for delivery.

Whenever a relative term, such as “about”, “substantially” or“approximately” is used in this specification, such a term should alsobe construed to also include the exact term. That is, e.g.,“substantially straight” should be construed to also include “(exactly)straight”.

Whenever steps were recited in the above or also in the appended claims,it should be noted that the order in which the steps are recited in thistext may be accidental. That is, unless otherwise specified or unlessclear to the skilled person, the order in which steps are recited may beaccidental. That is, when the present document states, e.g., that amethod comprises steps (A) and (B), this does not necessarily mean thatstep (A) precedes step (B), but it is also possible that step (A) isperformed (at least partly) simultaneously with step (B) or that step(B) precedes step (A). Furthermore, when a step (X) is said to precedeanother step (Z), this does not imply that there is no step betweensteps (X) and (Z). That is, step (X) preceding step (Z) encompasses thesituation that step (X) is performed directly before step (Z), but alsothe situation that (X) is performed before one or more steps (Y1), . . ., followed by step (Z). Corresponding considerations apply when termslike “after” or “before” are used.

While in the above, a preferred embodiment has been described withreference to the accompanying drawings, the skilled person willunderstand that this embodiment was provided for illustrative purposeonly and should by no means be construed to limit the scope of thepresent invention, which is defined by the claims.

What is claimed is:
 1. A storage system adapted to store a plurality ofitems and to load a delivery robot with any of said plurality of itemsfor delivery to a destination, wherein the storage system comprises: adelivery robot level; at least one storage level for storing the items,the at least one storage level being different from the delivery robotlevel; and a loading robot adapted to retrieve a given item from astorage level and then load the retrieved item to a delivery robotlocated on the delivery robot level.